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• W4362560156 endingPage "3705" @default.
• W4362560156 startingPage "3705" @default.
• W4362560156 abstract "The design of torsional springs for series elastic actuators (SEAs) is challenging, especially when balancing good stiffness characteristics and efficient torque robustness. This study focuses on the design of a lightweight, low-cost, and compact torsional spring for use in the energy storage-rotary series elastic actuator (ES-RSEA) of a lumbar support exoskeleton. The exoskeleton is used as an assistive device to prevent lower back injuries. The torsion spring was designed following design for manufacturability (DFM) principles, focusing on minimal space and weight. The design process involved determining the potential topology and optimizing the selected topology parameters through the finite element method (FEM) to reduce equivalent stress. The prototype was made using a waterjet cutting process with a low-cost material (AISI-4140-alloy) and tested using a custom-made test rig. The results showed that the torsion spring had a linear torque-displacement relationship with 99% linearity, and the deviation between FEM simulation and experimental measurements was less than 2%. The torsion spring has a maximum torque capacity of 45.7 Nm and a 440 Nm/rad stiffness. The proposed torsion spring is a promising option for lumbar support exoskeletons and similar applications requiring low stiffness, low weight-to-torque ratio, and cost-effectiveness." @default.
• W4362560156 created "2023-04-06" @default.
• W4362560156 creator A5012858886 @default.
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• W4362560156 date "2023-04-03" @default.
• W4362560156 modified "2023-10-09" @default.
• W4362560156 title "Design and Characterization of a Low-Cost and Efficient Torsional Spring for ES-RSEA" @default.
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• W4362560156 doi "https://doi.org/10.3390/s23073705" @default.
• W4362560156 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/37050767" @default.
• W4362560156 hasPublicationYear "2023" @default.
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